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<title>Doxygen: pcl::SampleConsensusModelNormalParallelPlane&lt; PointT, PointNT &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::SampleConsensusModelNormalParallelPlane&lt; PointT, PointNT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html" title="SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...">SampleConsensusModelNormalParallelPlane</a> defines a model for 3D plane segmentation using additional surface normal constraints. Basically this means that checking for inliers will not only involve a "distance to
model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals. In addition, the plane normal must lie parallel to an user-specified axis.  
 <a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="sac__model__normal__parallel__plane_8h_source.html">sac_model_normal_parallel_plane.h</a>&gt;</code></p>
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类 pcl::SampleConsensusModelNormalParallelPlane&lt; PointT, PointNT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1_sample_consensus_model_normal_parallel_plane.png" usemap="#pcl::SampleConsensusModelNormalParallelPlane_3C_20PointT_2C_20PointNT_20_3E_map" alt=""/>
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<area href="classpcl_1_1_sample_consensus_model_normal_plane.html" title="SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no..." alt="pcl::SampleConsensusModelNormalPlane&lt; PointT, PointNT &gt;" shape="rect" coords="205,112,605,136"/>
<area href="classpcl_1_1_sample_consensus_model_plane.html" title="SampleConsensusModelPlane defines a model for 3D plane segmentation. The model coefficients are defin..." alt="pcl::SampleConsensusModelPlane&lt; PointT &gt;" shape="rect" coords="0,56,400,80"/>
<area href="classpcl_1_1_sample_consensus_model_from_normals.html" title="SampleConsensusModelFromNormals represents the base model class for models that require the use of su..." alt="pcl::SampleConsensusModelFromNormals&lt; PointT, PointNT &gt;" shape="rect" coords="410,56,810,80"/>
<area href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t..." alt="pcl::SampleConsensusModel&lt; PointT &gt;" shape="rect" coords="0,0,400,24"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a62de32c74e50c7c0a8ada3cf9450070e"><td class="memItemLeft" align="right" valign="top"><a id="a62de32c74e50c7c0a8ada3cf9450070e"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::PointCloudNPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">SampleConsensusModelNormalParallelPlane</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_sample_consensus_model_normal_plane"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_sample_consensus_model_normal_plane')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html">pcl::SampleConsensusModelNormalPlane&lt; PointT, PointNT &gt;</a></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::PointCloudNPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html">SampleConsensusModelNormalPlane</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_sample_consensus_model_plane"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_sample_consensus_model_plane')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_plane.html">pcl::SampleConsensusModelPlane&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a0bb46c0277fd4554dec5a2b43ea9200c inherit pub_types_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top"><a id="a0bb46c0277fd4554dec5a2b43ea9200c"></a>
typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_plane.html">SampleConsensusModelPlane</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>SearchPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a028b710e8a2c3b3fa62c34c1a348c575 inherit pub_types_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a028b710e8a2c3b3fa62c34c1a348c575"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_sample_consensus_model_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_sample_consensus_model_from_normals')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">pcl::SampleConsensusModelFromNormals&lt; PointT, PointNT &gt;</a></td></tr>
<tr class="memitem:af2f51a94d8d72e9886ec81ced2c0e409 inherit pub_types_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="af2f51a94d8d72e9886ec81ced2c0e409"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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<tr class="memitem:ab6f339430cd68bd1ba98c5bc75f7fb2c inherit pub_types_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="ab6f339430cd68bd1ba98c5bc75f7fb2c"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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<tr class="memitem:a79f21cd1f4b3359868b239c813771866 inherit pub_types_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a79f21cd1f4b3359868b239c813771866"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a103ac6fcabcd39df77917bdf3ae13916 inherit pub_types_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a103ac6fcabcd39df77917bdf3ae13916"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">SampleConsensusModelFromNormals</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a1a380854465d245c09fe449c7a776a24"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a1a380854465d245c09fe449c7a776a24">SampleConsensusModelNormalParallelPlane</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:a1a380854465d245c09fe449c7a776a24"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html" title="SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...">SampleConsensusModelNormalParallelPlane</a>.  <a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a1a380854465d245c09fe449c7a776a24">更多...</a><br /></td></tr>
<tr class="separator:a1a380854465d245c09fe449c7a776a24"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab92d881d09ec9cb96fa9658a3540a585"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ab92d881d09ec9cb96fa9658a3540a585">SampleConsensusModelNormalParallelPlane</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:ab92d881d09ec9cb96fa9658a3540a585"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html" title="SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...">SampleConsensusModelNormalParallelPlane</a>.  <a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ab92d881d09ec9cb96fa9658a3540a585">更多...</a><br /></td></tr>
<tr class="separator:ab92d881d09ec9cb96fa9658a3540a585"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7cd724a6cc535ed16141ddd502967332"><td class="memItemLeft" align="right" valign="top"><a id="a7cd724a6cc535ed16141ddd502967332"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a7cd724a6cc535ed16141ddd502967332">~SampleConsensusModelNormalParallelPlane</a> ()</td></tr>
<tr class="memdesc:a7cd724a6cc535ed16141ddd502967332"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a7cd724a6cc535ed16141ddd502967332"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae938d8d5fc0c9dcafd55cbc1f39d480a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ae938d8d5fc0c9dcafd55cbc1f39d480a">setAxis</a> (const Eigen::Vector3f &amp;ax)</td></tr>
<tr class="memdesc:ae938d8d5fc0c9dcafd55cbc1f39d480a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the axis along which we need to search for a plane perpendicular to.  <a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ae938d8d5fc0c9dcafd55cbc1f39d480a">更多...</a><br /></td></tr>
<tr class="separator:ae938d8d5fc0c9dcafd55cbc1f39d480a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f475da49431d9fc920ade9a023392b7"><td class="memItemLeft" align="right" valign="top"><a id="a3f475da49431d9fc920ade9a023392b7"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a3f475da49431d9fc920ade9a023392b7">getAxis</a> ()</td></tr>
<tr class="memdesc:a3f475da49431d9fc920ade9a023392b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the axis along which we need to search for a plane perpendicular to. <br /></td></tr>
<tr class="separator:a3f475da49431d9fc920ade9a023392b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acaaf6b902abb758b4d62d76846f77075"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#acaaf6b902abb758b4d62d76846f77075">setEpsAngle</a> (const double ea)</td></tr>
<tr class="memdesc:acaaf6b902abb758b4d62d76846f77075"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the angle epsilon (delta) threshold.  <a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#acaaf6b902abb758b4d62d76846f77075">更多...</a><br /></td></tr>
<tr class="separator:acaaf6b902abb758b4d62d76846f77075"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad05b86f6d1590e555b7da88bfcce5581"><td class="memItemLeft" align="right" valign="top"><a id="ad05b86f6d1590e555b7da88bfcce5581"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ad05b86f6d1590e555b7da88bfcce5581">getEpsAngle</a> ()</td></tr>
<tr class="memdesc:ad05b86f6d1590e555b7da88bfcce5581"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the angle epsilon (delta) threshold. <br /></td></tr>
<tr class="separator:ad05b86f6d1590e555b7da88bfcce5581"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a3870bce36a1018cc73ff5cde6719b6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6a3870bce36a1018cc73ff5cde6719b6">setDistanceFromOrigin</a> (const double d)</td></tr>
<tr class="memdesc:a6a3870bce36a1018cc73ff5cde6719b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the distance we expect the plane to be from the origin  <a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6a3870bce36a1018cc73ff5cde6719b6">更多...</a><br /></td></tr>
<tr class="separator:a6a3870bce36a1018cc73ff5cde6719b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a093e8dad08a893c76a2657c2c2c192c4"><td class="memItemLeft" align="right" valign="top"><a id="a093e8dad08a893c76a2657c2c2c192c4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a093e8dad08a893c76a2657c2c2c192c4">getDistanceFromOrigin</a> ()</td></tr>
<tr class="memdesc:a093e8dad08a893c76a2657c2c2c192c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the distance of the plane from the origin. <br /></td></tr>
<tr class="separator:a093e8dad08a893c76a2657c2c2c192c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04121c694f7170f6ea3f4854a2689db2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a04121c694f7170f6ea3f4854a2689db2">setEpsDist</a> (const double delta)</td></tr>
<tr class="memdesc:a04121c694f7170f6ea3f4854a2689db2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the distance epsilon (delta) threshold.  <a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a04121c694f7170f6ea3f4854a2689db2">更多...</a><br /></td></tr>
<tr class="separator:a04121c694f7170f6ea3f4854a2689db2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95c3573d1844bc4a370b629d01769ff8"><td class="memItemLeft" align="right" valign="top"><a id="a95c3573d1844bc4a370b629d01769ff8"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a95c3573d1844bc4a370b629d01769ff8">getEpsDist</a> ()</td></tr>
<tr class="memdesc:a95c3573d1844bc4a370b629d01769ff8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the distance epsilon (delta) threshold. <br /></td></tr>
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<tr class="memitem:a6d6b9e39d85c4046fffc2d133b16f5cf"><td class="memItemLeft" align="right" valign="top"><a id="a6d6b9e39d85c4046fffc2d133b16f5cf"></a>
pcl::SacModel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6d6b9e39d85c4046fffc2d133b16f5cf">getModelType</a> () const</td></tr>
<tr class="memdesc:a6d6b9e39d85c4046fffc2d133b16f5cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE). <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_sample_consensus_model_normal_plane')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html">pcl::SampleConsensusModelNormalPlane&lt; PointT, PointNT &gt;</a></td></tr>
<tr class="memitem:a6057b518b385f7cb814a21f0e624069d inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html#a6057b518b385f7cb814a21f0e624069d">SampleConsensusModelNormalPlane</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:a6057b518b385f7cb814a21f0e624069d inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html" title="SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no...">SampleConsensusModelNormalPlane</a>.  <a href="classpcl_1_1_sample_consensus_model_normal_plane.html#a6057b518b385f7cb814a21f0e624069d">更多...</a><br /></td></tr>
<tr class="separator:a6057b518b385f7cb814a21f0e624069d inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab86a5b9c29702bf097861986d9ea67bf inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html#ab86a5b9c29702bf097861986d9ea67bf">SampleConsensusModelNormalPlane</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:ab86a5b9c29702bf097861986d9ea67bf inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html" title="SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no...">SampleConsensusModelNormalPlane</a>.  <a href="classpcl_1_1_sample_consensus_model_normal_plane.html#ab86a5b9c29702bf097861986d9ea67bf">更多...</a><br /></td></tr>
<tr class="separator:ab86a5b9c29702bf097861986d9ea67bf inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a599399a6a03a7ddb4bb26bb304b8b871 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memItemLeft" align="right" valign="top"><a id="a599399a6a03a7ddb4bb26bb304b8b871"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html#a599399a6a03a7ddb4bb26bb304b8b871">~SampleConsensusModelNormalPlane</a> ()</td></tr>
<tr class="memdesc:a599399a6a03a7ddb4bb26bb304b8b871 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a599399a6a03a7ddb4bb26bb304b8b871 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63bbd86abcfc9a3ac2572d7d4566cd35 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html#a63bbd86abcfc9a3ac2572d7d4566cd35">selectWithinDistance</a> (const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</td></tr>
<tr class="memdesc:a63bbd86abcfc9a3ac2572d7d4566cd35 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Select all the points which respect the given model coefficients as inliers.  <a href="classpcl_1_1_sample_consensus_model_normal_plane.html#a63bbd86abcfc9a3ac2572d7d4566cd35">更多...</a><br /></td></tr>
<tr class="separator:a63bbd86abcfc9a3ac2572d7d4566cd35 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97823e42845ee811261d929ecc272005 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html#a97823e42845ee811261d929ecc272005">countWithinDistance</a> (const Eigen::VectorXf &amp;model_coefficients, const double threshold)</td></tr>
<tr class="memdesc:a97823e42845ee811261d929ecc272005 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Count all the points which respect the given model coefficients as inliers.  <a href="classpcl_1_1_sample_consensus_model_normal_plane.html#a97823e42845ee811261d929ecc272005">更多...</a><br /></td></tr>
<tr class="separator:a97823e42845ee811261d929ecc272005 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad084c665f423e894bd4531c02f38c5a0 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html#ad084c665f423e894bd4531c02f38c5a0">getDistancesToModel</a> (const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</td></tr>
<tr class="memdesc:ad084c665f423e894bd4531c02f38c5a0 inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute all distances from the cloud data to a given plane model.  <a href="classpcl_1_1_sample_consensus_model_normal_plane.html#ad084c665f423e894bd4531c02f38c5a0">更多...</a><br /></td></tr>
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<tr class="memitem:a415ea4b0cd33afe4429a76e9208ee88e inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memItemLeft" align="right" valign="top"><a id="a415ea4b0cd33afe4429a76e9208ee88e"></a>
pcl::SacModel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_plane.html#a415ea4b0cd33afe4429a76e9208ee88e">getModelType</a> () const</td></tr>
<tr class="memdesc:a415ea4b0cd33afe4429a76e9208ee88e inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an unique id for this model (SACMODEL_NORMAL_PLANE). <br /></td></tr>
<tr class="separator:a415ea4b0cd33afe4429a76e9208ee88e inherit pub_methods_classpcl_1_1_sample_consensus_model_normal_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_sample_consensus_model_plane"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_sample_consensus_model_plane')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_plane.html">pcl::SampleConsensusModelPlane&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ac99bcc81fa7f1bb2490020ff3ac1aeb6 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#ac99bcc81fa7f1bb2490020ff3ac1aeb6">SampleConsensusModelPlane</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:ac99bcc81fa7f1bb2490020ff3ac1aeb6 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_plane.html" title="SampleConsensusModelPlane defines a model for 3D plane segmentation. The model coefficients are defin...">SampleConsensusModelPlane</a>.  <a href="classpcl_1_1_sample_consensus_model_plane.html#ac99bcc81fa7f1bb2490020ff3ac1aeb6">更多...</a><br /></td></tr>
<tr class="separator:ac99bcc81fa7f1bb2490020ff3ac1aeb6 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adba03adf3afc5135b049cd4dae8fe3bb inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#adba03adf3afc5135b049cd4dae8fe3bb">SampleConsensusModelPlane</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:adba03adf3afc5135b049cd4dae8fe3bb inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_plane.html" title="SampleConsensusModelPlane defines a model for 3D plane segmentation. The model coefficients are defin...">SampleConsensusModelPlane</a>.  <a href="classpcl_1_1_sample_consensus_model_plane.html#adba03adf3afc5135b049cd4dae8fe3bb">更多...</a><br /></td></tr>
<tr class="separator:adba03adf3afc5135b049cd4dae8fe3bb inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd2dec2c1f550eedba0ced17f4394e19 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top"><a id="afd2dec2c1f550eedba0ced17f4394e19"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#afd2dec2c1f550eedba0ced17f4394e19">~SampleConsensusModelPlane</a> ()</td></tr>
<tr class="memdesc:afd2dec2c1f550eedba0ced17f4394e19 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:afd2dec2c1f550eedba0ced17f4394e19 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8c1ca289b6b38d9e00395ced6004f6a inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#ab8c1ca289b6b38d9e00395ced6004f6a">computeModelCoefficients</a> (const std::vector&lt; int &gt; &amp;samples, Eigen::VectorXf &amp;model_coefficients)</td></tr>
<tr class="memdesc:ab8c1ca289b6b38d9e00395ced6004f6a inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them internally in model_coefficients_. The plane coefficients are: a, b, c, d (ax+by+cz+d=0)  <a href="classpcl_1_1_sample_consensus_model_plane.html#ab8c1ca289b6b38d9e00395ced6004f6a">更多...</a><br /></td></tr>
<tr class="separator:ab8c1ca289b6b38d9e00395ced6004f6a inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50387ca38d44d96d364cff901da7bd42 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#a50387ca38d44d96d364cff901da7bd42">getDistancesToModel</a> (const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</td></tr>
<tr class="memdesc:a50387ca38d44d96d364cff901da7bd42 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute all distances from the cloud data to a given plane model.  <a href="classpcl_1_1_sample_consensus_model_plane.html#a50387ca38d44d96d364cff901da7bd42">更多...</a><br /></td></tr>
<tr class="separator:a50387ca38d44d96d364cff901da7bd42 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb06aa4934ddf5ce6a5cd7220eb6c121 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#aeb06aa4934ddf5ce6a5cd7220eb6c121">selectWithinDistance</a> (const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</td></tr>
<tr class="memdesc:aeb06aa4934ddf5ce6a5cd7220eb6c121 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Select all the points which respect the given model coefficients as inliers.  <a href="classpcl_1_1_sample_consensus_model_plane.html#aeb06aa4934ddf5ce6a5cd7220eb6c121">更多...</a><br /></td></tr>
<tr class="separator:aeb06aa4934ddf5ce6a5cd7220eb6c121 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fe6c9952d5dae0d7366a2fe3be37dd9 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#a7fe6c9952d5dae0d7366a2fe3be37dd9">optimizeModelCoefficients</a> (const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, Eigen::VectorXf &amp;optimized_coefficients)</td></tr>
<tr class="memdesc:a7fe6c9952d5dae0d7366a2fe3be37dd9 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recompute the plane coefficients using the given inlier set and return them to the user.  <a href="classpcl_1_1_sample_consensus_model_plane.html#a7fe6c9952d5dae0d7366a2fe3be37dd9">更多...</a><br /></td></tr>
<tr class="separator:a7fe6c9952d5dae0d7366a2fe3be37dd9 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af440c5df78301786addbb085036aa447 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#af440c5df78301786addbb085036aa447">projectPoints</a> (const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;projected_points, bool copy_data_fields=true)</td></tr>
<tr class="memdesc:af440c5df78301786addbb085036aa447 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a new point cloud with inliers projected onto the plane model.  <a href="classpcl_1_1_sample_consensus_model_plane.html#af440c5df78301786addbb085036aa447">更多...</a><br /></td></tr>
<tr class="separator:af440c5df78301786addbb085036aa447 inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34ab4d472c46cf75e3cf7b3bec4346bd inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#a34ab4d472c46cf75e3cf7b3bec4346bd">doSamplesVerifyModel</a> (const std::set&lt; int &gt; &amp;indices, const Eigen::VectorXf &amp;model_coefficients, const double threshold)</td></tr>
<tr class="memdesc:a34ab4d472c46cf75e3cf7b3bec4346bd inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Verify whether a subset of indices verifies the given plane model coefficients.  <a href="classpcl_1_1_sample_consensus_model_plane.html#a34ab4d472c46cf75e3cf7b3bec4346bd">更多...</a><br /></td></tr>
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<tr class="memitem:aec6058c4d1e3e467d17954557216c43e inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memItemLeft" align="right" valign="top"><a id="aec6058c4d1e3e467d17954557216c43e"></a>
pcl::SacModel&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_plane.html#aec6058c4d1e3e467d17954557216c43e">getModelType</a> () const</td></tr>
<tr class="memdesc:aec6058c4d1e3e467d17954557216c43e inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an unique id for this model (SACMODEL_PLANE). <br /></td></tr>
<tr class="separator:aec6058c4d1e3e467d17954557216c43e inherit pub_methods_classpcl_1_1_sample_consensus_model_plane"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aa99d99ea0457237eca3b2f8e9a39022b">SampleConsensusModel</a> (const PointCloudConstPtr &amp;cloud, bool random=false)</td></tr>
<tr class="memdesc:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#aa99d99ea0457237eca3b2f8e9a39022b">更多...</a><br /></td></tr>
<tr class="separator:aa99d99ea0457237eca3b2f8e9a39022b inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fd6d364bc52a69c6aff54691975b7aa inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3fd6d364bc52a69c6aff54691975b7aa">SampleConsensusModel</a> (const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</td></tr>
<tr class="memdesc:a3fd6d364bc52a69c6aff54691975b7aa inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#a3fd6d364bc52a69c6aff54691975b7aa">更多...</a><br /></td></tr>
<tr class="separator:a3fd6d364bc52a69c6aff54691975b7aa inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a6fd82ae7fce7b90406608b8db249acd1"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a6fd82ae7fce7b90406608b8db249acd1">~SampleConsensusModel</a> ()</td></tr>
<tr class="memdesc:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>. <br /></td></tr>
<tr class="separator:a6fd82ae7fce7b90406608b8db249acd1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ae178816daf4f2c7af3a19d12324b77 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2ae178816daf4f2c7af3a19d12324b77">getSamples</a> (int &amp;iterations, std::vector&lt; int &gt; &amp;samples)</td></tr>
<tr class="memdesc:a2ae178816daf4f2c7af3a19d12324b77 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a set of random data samples and return them as point indices.  <a href="classpcl_1_1_sample_consensus_model.html#a2ae178816daf4f2c7af3a19d12324b77">更多...</a><br /></td></tr>
<tr class="separator:a2ae178816daf4f2c7af3a19d12324b77 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae3b06fbee5243f926d40f8115bd406c inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aae3b06fbee5243f926d40f8115bd406c">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:aae3b06fbee5243f926d40f8115bd406c inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_sample_consensus_model.html#aae3b06fbee5243f926d40f8115bd406c">更多...</a><br /></td></tr>
<tr class="separator:aae3b06fbee5243f926d40f8115bd406c inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a41226f6ed6de6db5ea190f265f520fc9"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a41226f6ed6de6db5ea190f265f520fc9">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a41226f6ed6de6db5ea190f265f520fc9 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d9b6652b63eacd8c0ae1fb3a3eafa25 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a4d9b6652b63eacd8c0ae1fb3a3eafa25">setIndices</a> (const boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; &amp;indices)</td></tr>
<tr class="memdesc:a4d9b6652b63eacd8c0ae1fb3a3eafa25 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_sample_consensus_model.html#a4d9b6652b63eacd8c0ae1fb3a3eafa25">更多...</a><br /></td></tr>
<tr class="separator:a4d9b6652b63eacd8c0ae1fb3a3eafa25 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d23c173237ca4be1451182b9a84b3ac inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a6d23c173237ca4be1451182b9a84b3ac">setIndices</a> (const std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a6d23c173237ca4be1451182b9a84b3ac inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide the vector of indices that represents the input data.  <a href="classpcl_1_1_sample_consensus_model.html#a6d23c173237ca4be1451182b9a84b3ac">更多...</a><br /></td></tr>
<tr class="separator:a6d23c173237ca4be1451182b9a84b3ac inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7b59467495bbcc1e6ba1b69bbd6c4206 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a7b59467495bbcc1e6ba1b69bbd6c4206"></a>
boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7b59467495bbcc1e6ba1b69bbd6c4206">getIndices</a> () const</td></tr>
<tr class="memdesc:a7b59467495bbcc1e6ba1b69bbd6c4206 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a7b59467495bbcc1e6ba1b69bbd6c4206 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a490884cb22bfa92325111bd5be0bbe96 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a490884cb22bfa92325111bd5be0bbe96"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a490884cb22bfa92325111bd5be0bbe96">getClassName</a> () const</td></tr>
<tr class="memdesc:a490884cb22bfa92325111bd5be0bbe96 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
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<tr class="memitem:aff175b4323080fe1a3ca98a76ca4da46 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="aff175b4323080fe1a3ca98a76ca4da46"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aff175b4323080fe1a3ca98a76ca4da46">getSampleSize</a> () const</td></tr>
<tr class="memdesc:aff175b4323080fe1a3ca98a76ca4da46 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the size of a sample from which the model is computed. <br /></td></tr>
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<tr class="memitem:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a35884d269a39055c962b24d1db5fa97d"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a35884d269a39055c962b24d1db5fa97d">getModelSize</a> () const</td></tr>
<tr class="memdesc:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the number of coefficients in the model. <br /></td></tr>
<tr class="separator:a35884d269a39055c962b24d1db5fa97d inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ed94271a12d7903c0bee9091e9a8f95 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">setRadiusLimits</a> (const double &amp;min_radius, const double &amp;max_radius)</td></tr>
<tr class="memdesc:a3ed94271a12d7903c0bee9091e9a8f95 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)  <a href="classpcl_1_1_sample_consensus_model.html#a3ed94271a12d7903c0bee9091e9a8f95">更多...</a><br /></td></tr>
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<tr class="memitem:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">getRadiusLimits</a> (double &amp;min_radius, double &amp;max_radius)</td></tr>
<tr class="memdesc:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum and maximum allowable radius limits for the model as set by the user.  <a href="classpcl_1_1_sample_consensus_model.html#acff95be7097cf723a598d3b28e828487">更多...</a><br /></td></tr>
<tr class="separator:acff95be7097cf723a598d3b28e828487 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#af9eea9dd0e12e1de8671ac542400d3f1">setSamplesMaxDist</a> (const double &amp;radius, SearchPtr search)</td></tr>
<tr class="memdesc:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance allowed when drawing random samples  <a href="classpcl_1_1_sample_consensus_model.html#af9eea9dd0e12e1de8671ac542400d3f1">更多...</a><br /></td></tr>
<tr class="separator:af9eea9dd0e12e1de8671ac542400d3f1 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1aebacea0f2bdd7529f48f739f11c6c0 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a1aebacea0f2bdd7529f48f739f11c6c0">getSamplesMaxDist</a> (double &amp;radius)</td></tr>
<tr class="memdesc:a1aebacea0f2bdd7529f48f739f11c6c0 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get maximum distance allowed when drawing random samples  <a href="classpcl_1_1_sample_consensus_model.html#a1aebacea0f2bdd7529f48f739f11c6c0">更多...</a><br /></td></tr>
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<tr class="memitem:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2ac96856f60671f5d56be00a174963a8">computeVariance</a> (const std::vector&lt; double &gt; &amp;error_sqr_dists)</td></tr>
<tr class="memdesc:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the variance of the errors to the model.  <a href="classpcl_1_1_sample_consensus_model.html#a2ac96856f60671f5d56be00a174963a8">更多...</a><br /></td></tr>
<tr class="separator:a2ac96856f60671f5d56be00a174963a8 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ad3de5bb66de04a4f0b3bc014a0676d48"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ad3de5bb66de04a4f0b3bc014a0676d48">computeVariance</a> ()</td></tr>
<tr class="memdesc:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the variance of the errors to the model from the internally estimated vector of distances. The model must be computed first (or at least selectWithinDistance must be called). <br /></td></tr>
<tr class="separator:ad3de5bb66de04a4f0b3bc014a0676d48 inherit pub_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_sample_consensus_model_from_normals')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">pcl::SampleConsensusModelFromNormals&lt; PointT, PointNT &gt;</a></td></tr>
<tr class="memitem:aac33c2093acaca505d27397c0cc0af71 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="aac33c2093acaca505d27397c0cc0af71"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#aac33c2093acaca505d27397c0cc0af71">SampleConsensusModelFromNormals</a> ()</td></tr>
<tr class="memdesc:aac33c2093acaca505d27397c0cc0af71 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html" title="SampleConsensusModelFromNormals represents the base model class for models that require the use of su...">SampleConsensusModelFromNormals</a>. <br /></td></tr>
<tr class="separator:aac33c2093acaca505d27397c0cc0af71 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a010f51999fde7c867ea2a6b53a7887b8 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a010f51999fde7c867ea2a6b53a7887b8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a010f51999fde7c867ea2a6b53a7887b8">~SampleConsensusModelFromNormals</a> ()</td></tr>
<tr class="memdesc:a010f51999fde7c867ea2a6b53a7887b8 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a010f51999fde7c867ea2a6b53a7887b8 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a490b2a89f60d8fafa2c7fd6b8f761c85 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a490b2a89f60d8fafa2c7fd6b8f761c85">setNormalDistanceWeight</a> (const double w)</td></tr>
<tr class="memdesc:a490b2a89f60d8fafa2c7fd6b8f761c85 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normal angular distance weight.  <a href="classpcl_1_1_sample_consensus_model_from_normals.html#a490b2a89f60d8fafa2c7fd6b8f761c85">更多...</a><br /></td></tr>
<tr class="separator:a490b2a89f60d8fafa2c7fd6b8f761c85 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d5c831e4e7469f3b2e30ab9cad559b3 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a3d5c831e4e7469f3b2e30ab9cad559b3"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a3d5c831e4e7469f3b2e30ab9cad559b3">getNormalDistanceWeight</a> ()</td></tr>
<tr class="memdesc:a3d5c831e4e7469f3b2e30ab9cad559b3 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the normal angular distance weight. <br /></td></tr>
<tr class="separator:a3d5c831e4e7469f3b2e30ab9cad559b3 inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8945c93d6a5f7b436b527794888ec1be inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a8945c93d6a5f7b436b527794888ec1be">setInputNormals</a> (const PointCloudNConstPtr &amp;normals)</td></tr>
<tr class="memdesc:a8945c93d6a5f7b436b527794888ec1be inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.  <a href="classpcl_1_1_sample_consensus_model_from_normals.html#a8945c93d6a5f7b436b527794888ec1be">更多...</a><br /></td></tr>
<tr class="separator:a8945c93d6a5f7b436b527794888ec1be inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af878ad2a4bb4badec569eb51d94d5a0d inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="af878ad2a4bb4badec569eb51d94d5a0d"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#af878ad2a4bb4badec569eb51d94d5a0d">getInputNormals</a> ()</td></tr>
<tr class="memdesc:af878ad2a4bb4badec569eb51d94d5a0d inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the normals of the input XYZ point cloud dataset. <br /></td></tr>
<tr class="separator:af878ad2a4bb4badec569eb51d94d5a0d inherit pub_methods_classpcl_1_1_sample_consensus_model_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:aa485784ee2a5d0c9f8a4f53a54564a7f"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa485784ee2a5d0c9f8a4f53a54564a7f">isModelValid</a> (const Eigen::VectorXf &amp;model_coefficients)</td></tr>
<tr class="memdesc:aa485784ee2a5d0c9f8a4f53a54564a7f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check whether a model is valid given the user constraints.  <a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa485784ee2a5d0c9f8a4f53a54564a7f">更多...</a><br /></td></tr>
<tr class="separator:aa485784ee2a5d0c9f8a4f53a54564a7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a910f3f0d75a6c2bf8bc4a9c43df825ce">SampleConsensusModel</a> (bool random=false)</td></tr>
<tr class="memdesc:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model.html" title="SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...">SampleConsensusModel</a>.  <a href="classpcl_1_1_sample_consensus_model.html#a910f3f0d75a6c2bf8bc4a9c43df825ce">更多...</a><br /></td></tr>
<tr class="separator:a910f3f0d75a6c2bf8bc4a9c43df825ce inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a2f687798633c8e702568aea8d68b2bec">drawIndexSample</a> (std::vector&lt; int &gt; &amp;sample)</td></tr>
<tr class="memdesc:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fills a sample array with random samples from the indices_ vector  <a href="classpcl_1_1_sample_consensus_model.html#a2f687798633c8e702568aea8d68b2bec">更多...</a><br /></td></tr>
<tr class="separator:a2f687798633c8e702568aea8d68b2bec inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a94696e418be704a4443b031ca18bc298">drawIndexSampleRadius</a> (std::vector&lt; int &gt; &amp;sample)</td></tr>
<tr class="memdesc:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_  <a href="classpcl_1_1_sample_consensus_model.html#a94696e418be704a4443b031ca18bc298">更多...</a><br /></td></tr>
<tr class="separator:a94696e418be704a4443b031ca18bc298 inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ab8b77e6a4edb210c2ddaca923ac8470a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab8b77e6a4edb210c2ddaca923ac8470a">rnd</a> ()</td></tr>
<tr class="memdesc:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator. <br /></td></tr>
<tr class="separator:ab8b77e6a4edb210c2ddaca923ac8470a inherit pro_methods_classpcl_1_1_sample_consensus_model"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a71cde334afb34175627bd2e8099377f4"><td class="memItemLeft" align="right" valign="top"><a id="a71cde334afb34175627bd2e8099377f4"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a></td></tr>
<tr class="memdesc:a71cde334afb34175627bd2e8099377f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The axis along which we need to search for a plane perpendicular to. <br /></td></tr>
<tr class="separator:a71cde334afb34175627bd2e8099377f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aea3e40783084111de43e393b05b3c571"><td class="memItemLeft" align="right" valign="top"><a id="aea3e40783084111de43e393b05b3c571"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a></td></tr>
<tr class="memdesc:aea3e40783084111de43e393b05b3c571"><td class="mdescLeft">&#160;</td><td class="mdescRight">The distance from the template plane to the origin. <br /></td></tr>
<tr class="separator:aea3e40783084111de43e393b05b3c571"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51507054bfcec905fc93de25c0392db2"><td class="memItemLeft" align="right" valign="top"><a id="a51507054bfcec905fc93de25c0392db2"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a></td></tr>
<tr class="memdesc:a51507054bfcec905fc93de25c0392db2"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum allowed difference between the plane normal and the given axis. <br  />
 <br /></td></tr>
<tr class="separator:a51507054bfcec905fc93de25c0392db2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa259a6a04d35b74090a20f4a918c040d"><td class="memItemLeft" align="right" valign="top"><a id="aa259a6a04d35b74090a20f4a918c040d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a></td></tr>
<tr class="memdesc:aa259a6a04d35b74090a20f4a918c040d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The cosine of the angle <br /></td></tr>
<tr class="separator:aa259a6a04d35b74090a20f4a918c040d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a277a362585ed9009e06521f81ab77c4e"><td class="memItemLeft" align="right" valign="top"><a id="a277a362585ed9009e06521f81ab77c4e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a></td></tr>
<tr class="memdesc:a277a362585ed9009e06521f81ab77c4e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum allowed deviation from the template distance from the origin. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a></td></tr>
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PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7bffa6777a49f1c461ee8e0960bbec01">input_</a></td></tr>
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boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ad45adf0e36f396a908c2ba08cfdd7a41">indices_</a></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a3e4708339fa0bc73aac513ddb1891a18">radius_min_</a></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>radius_max_</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#aab89218101a313d2aa8adcaf6991f73b">samples_radius_</a></td></tr>
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SearchPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a4b939f4747b5d6e12b03148a680380c3">samples_radius_search_</a></td></tr>
<tr class="memdesc:a4b939f4747b5d6e12b03148a680380c3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search object for picking subsequent samples using radius search <br /></td></tr>
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boost::mt19937&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a73e9fb74bbe6ba122781c42913618756">rng_alg_</a></td></tr>
<tr class="memdesc:a73e9fb74bbe6ba122781c42913618756 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator algorithm. <br /></td></tr>
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boost::shared_ptr&lt; boost::uniform_int&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a81041dab94f5b0a5644697a12c4b9351">rng_dist_</a></td></tr>
<tr class="memdesc:a81041dab94f5b0a5644697a12c4b9351 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator distribution. <br /></td></tr>
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boost::shared_ptr&lt; boost::variate_generator&lt; boost::mt19937 &amp;, boost::uniform_int&lt;&gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a7c57e94b06912d8bbf472667ba9940db">rng_gen_</a></td></tr>
<tr class="memdesc:a7c57e94b06912d8bbf472667ba9940db inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boost-based random number generator. <br /></td></tr>
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<tr class="memitem:af526982856012edcfa78ffc0fd589f97 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="af526982856012edcfa78ffc0fd589f97"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#af526982856012edcfa78ffc0fd589f97">error_sqr_dists_</a></td></tr>
<tr class="memdesc:af526982856012edcfa78ffc0fd589f97 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">A vector holding the distances to the computed model. Used internally. <br /></td></tr>
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<tr class="memitem:a64854cad238a0583093c446dc295f245 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="a64854cad238a0583093c446dc295f245"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a></td></tr>
<tr class="memdesc:a64854cad238a0583093c446dc295f245 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of a sample from which the model is computed. Every subclass should initialize this appropriately. <br /></td></tr>
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<tr class="memitem:ab7f51bf1c63fcfb05694d0f19c2f7dc3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top"><a id="ab7f51bf1c63fcfb05694d0f19c2f7dc3"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a></td></tr>
<tr class="memdesc:ab7f51bf1c63fcfb05694d0f19c2f7dc3 inherit pro_attribs_classpcl_1_1_sample_consensus_model"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of coefficients in the model. Every subclass should initialize this appropriately. <br /></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_sample_consensus_model_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_sample_consensus_model_from_normals')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html">pcl::SampleConsensusModelFromNormals&lt; PointT, PointNT &gt;</a></td></tr>
<tr class="memitem:ae21dd06dfc1c624f72925edff6c882e4 inherit pro_attribs_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="ae21dd06dfc1c624f72925edff6c882e4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#ae21dd06dfc1c624f72925edff6c882e4">normal_distance_weight_</a></td></tr>
<tr class="memdesc:ae21dd06dfc1c624f72925edff6c882e4 inherit pro_attribs_classpcl_1_1_sample_consensus_model_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. <br /></td></tr>
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<tr class="memitem:a5518bb7163a19fbc4a79d76f03742c0b inherit pro_attribs_classpcl_1_1_sample_consensus_model_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a5518bb7163a19fbc4a79d76f03742c0b"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model_from_normals.html#a5518bb7163a19fbc4a79d76f03742c0b">normals_</a></td></tr>
<tr class="memdesc:a5518bb7163a19fbc4a79d76f03742c0b inherit pro_attribs_classpcl_1_1_sample_consensus_model_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the input dataset that contains the point normals of the XYZ dataset. <br /></td></tr>
<tr class="separator:a5518bb7163a19fbc4a79d76f03742c0b inherit pro_attribs_classpcl_1_1_sample_consensus_model_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_static_attribs_classpcl_1_1_sample_consensus_model"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classpcl_1_1_sample_consensus_model')"><img src="closed.png" alt="-"/>&#160;静态 Protected 属性 继承自 <a class="el" href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a19d4a467b5c0cd6267e6282ac0a2cf8c inherit pro_static_attribs_classpcl_1_1_sample_consensus_model"><td class="memItemLeft" align="right" valign="top">static const unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_sample_consensus_model.html#a19d4a467b5c0cd6267e6282ac0a2cf8c">max_sample_checks_</a> = 1000</td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename PointNT&gt;<br />
class pcl::SampleConsensusModelNormalParallelPlane&lt; PointT, PointNT &gt;</h3>

<p><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html" title="SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...">SampleConsensusModelNormalParallelPlane</a> defines a model for 3D plane segmentation using additional surface normal constraints. Basically this means that checking for inliers will not only involve a "distance to
model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals. In addition, the plane normal must lie parallel to an user-specified axis. </p>
<p>The model coefficients are defined as:</p><ul>
<li><b>a</b> : the X coordinate of the plane's normal (normalized)</li>
<li><b>b</b> : the Y coordinate of the plane's normal (normalized)</li>
<li><b>c</b> : the Z coordinate of the plane's normal (normalized)</li>
<li><b>d</b> : the fourth <a href="http://mathworld.wolfram.com/HessianNormalForm.html">Hessian component</a> of the plane's equation</li>
</ul>
<p>To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.: </p><div class="fragment"><div class="line">SampleConsensusModelNormalPlane&lt;pcl::PointXYZ, pcl::Normal&gt; sac_model;</div>
<div class="line">...</div>
<div class="line">sac_model.setNormalDistanceWeight (0.1);</div>
<div class="line">...</div>
</div><!-- fragment --><p>In addition, the user can specify more constraints, such as:</p>
<ul>
<li>an axis along which we need to search for a plane perpendicular to (<a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#ae938d8d5fc0c9dcafd55cbc1f39d480a">setAxis</a>);</li>
<li>an angle <em>tolerance</em> threshold between the plane's normal and the above given axis (<a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#acaaf6b902abb758b4d62d76846f77075">setEpsAngle</a>);</li>
<li>a distance we expect the plane to be from the origin (<a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a6a3870bce36a1018cc73ff5cde6719b6">setDistanceFromOrigin</a>);</li>
<li>a distance <em>tolerance</em> as the maximum allowed deviation from the above given distance from the origin (<a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a04121c694f7170f6ea3f4854a2689db2">setEpsDist</a>).</li>
</ul>
<dl class="section note"><dt>注解</dt><dd>Please remember that you need to specify an angle &gt; 0 in order to activate the axis-angle constraint!</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu and Jared Glover and Nico Blodow </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a1a380854465d245c09fe449c7a776a24"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1a380854465d245c09fe449c7a776a24">&#9670;&nbsp;</a></span>SampleConsensusModelNormalParallelPlane() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::<a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">SampleConsensusModelNormalParallelPlane</a> </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>random</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html" title="SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...">SampleConsensusModelNormalParallelPlane</a>. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">random</td><td>if true set the random seed to the current time, else set to 12345 (default: false) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        : SampleConsensusModelNormalPlane&lt;PointT, PointNT&gt; (cloud, random)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a> (Eigen::Vector4f::Zero ())</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a> (0)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a> (-1.0)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a> (-1.0)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a> (0.0)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelNormalParallelPlane&quot;</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 4;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a64854cad238a0583093c446dc295f245"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">pcl::SampleConsensusModel::sample_size_</a></div><div class="ttdeci">unsigned int sample_size_</div><div class="ttdoc">The size of a sample from which the model is computed. Every subclass should initialize this appropri...</div><div class="ttdef"><b>Definition:</b> sac_model.h:572</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab10fd6af7c7ab78040d4f638a572943f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">pcl::SampleConsensusModel::model_name_</a></div><div class="ttdeci">std::string model_name_</div><div class="ttdoc">The model name.</div><div class="ttdef"><b>Definition:</b> sac_model.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab7f51bf1c63fcfb05694d0f19c2f7dc3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">pcl::SampleConsensusModel::model_size_</a></div><div class="ttdeci">unsigned int model_size_</div><div class="ttdoc">The number of coefficients in the model. Every subclass should initialize this appropriately.</div><div class="ttdef"><b>Definition:</b> sac_model.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a277a362585ed9009e06521f81ab77c4e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">pcl::SampleConsensusModelNormalParallelPlane::eps_dist_</a></div><div class="ttdeci">double eps_dist_</div><div class="ttdoc">The maximum allowed deviation from the template distance from the origin.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a51507054bfcec905fc93de25c0392db2"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">pcl::SampleConsensusModelNormalParallelPlane::eps_angle_</a></div><div class="ttdeci">double eps_angle_</div><div class="ttdoc">The maximum allowed difference between the plane normal and the given axis.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_a71cde334afb34175627bd2e8099377f4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">pcl::SampleConsensusModelNormalParallelPlane::axis_</a></div><div class="ttdeci">Eigen::Vector4f axis_</div><div class="ttdoc">The axis along which we need to search for a plane perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_aa259a6a04d35b74090a20f4a918c040d"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">pcl::SampleConsensusModelNormalParallelPlane::cos_angle_</a></div><div class="ttdeci">double cos_angle_</div><div class="ttdoc">The cosine of the angle</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_normal_parallel_plane_html_aea3e40783084111de43e393b05b3c571"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">pcl::SampleConsensusModelNormalParallelPlane::distance_from_origin_</a></div><div class="ttdeci">double distance_from_origin_</div><div class="ttdoc">The distance from the template plane to the origin.</div><div class="ttdef"><b>Definition:</b> sac_model_normal_parallel_plane.h:206</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab92d881d09ec9cb96fa9658a3540a585">&#9670;&nbsp;</a></span>SampleConsensusModelNormalParallelPlane() <span class="overload">[2/2]</span></h2>

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          <td class="memname"><a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::<a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">SampleConsensusModelNormalParallelPlane</a> </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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<p>Constructor for base <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html" title="SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...">SampleConsensusModelNormalParallelPlane</a>. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the input point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>a vector of point indices to be used from <em>cloud</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">random</td><td>if true set the random seed to the current time, else set to 12345 (default: false) </td></tr>
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<div class="fragment"><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        : SampleConsensusModelNormalPlane&lt;PointT, PointNT&gt; (cloud, indices, random)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a> (Eigen::Vector4f::Zero ())</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a> (0)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a> (-1.0)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a> (-1.0)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a> (0.0)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelNormalParallelPlane&quot;</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 3;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 4;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      }</div>
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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aa485784ee2a5d0c9f8a4f53a54564a7f">&#9670;&nbsp;</a></span>isModelValid()</h2>

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template&lt;typename PointT , typename PointNT &gt; </div>
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          <td class="memname">bool <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::isModelValid </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXf &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em></td><td>)</td>
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<p>Check whether a model is valid given the user constraints. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>the set of model coefficients </td></tr>
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<p>重载 <a class="el" href="classpcl_1_1_sample_consensus_model.html#ad22a9cfdd9cf08bcf85ef1e88b62b9d2">pcl::SampleConsensusModel&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model.html#ad22a9cfdd9cf08bcf85ef1e88b62b9d2">SampleConsensusModel&lt;PointT&gt;::isModelValid</a> (model_coefficients))</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// Check against template, if given</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a> &gt; 0.0)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="comment">// Obtain the plane normal</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    Eigen::Vector4f coeff = model_coefficients;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    coeff[3] = 0;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    coeff.normalize ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">if</span> (fabs (<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a>.dot (coeff)) &lt; <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a>)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordflow">return</span>  (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a> &gt; 0.0)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">if</span> (fabs (-model_coefficients[3] - <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a>) &gt; <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a>)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ad22a9cfdd9cf08bcf85ef1e88b62b9d2"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ad22a9cfdd9cf08bcf85ef1e88b62b9d2">pcl::SampleConsensusModel::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model.h:516</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae938d8d5fc0c9dcafd55cbc1f39d480a">&#9670;&nbsp;</a></span>setAxis()</h2>

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template&lt;typename PointT , typename PointNT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::setAxis </td>
          <td>(</td>
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          <td class="paramname"><em>ax</em></td><td>)</td>
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<p>Set the axis along which we need to search for a plane perpendicular to. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">ax</td><td>the axis along which we need to search for a plane perpendicular to </td></tr>
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<div class="fragment"><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;{ <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a>.head&lt;3&gt; () = ax; <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a71cde334afb34175627bd2e8099377f4">axis_</a>.normalize ();}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6a3870bce36a1018cc73ff5cde6719b6">&#9670;&nbsp;</a></span>setDistanceFromOrigin()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::setDistanceFromOrigin </td>
          <td>(</td>
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<p>Set the distance we expect the plane to be from the origin </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">d</td><td>distance from the template plane to the origin </td></tr>
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<div class="fragment"><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;{ <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aea3e40783084111de43e393b05b3c571">distance_from_origin_</a> = d; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#acaaf6b902abb758b4d62d76846f77075">&#9670;&nbsp;</a></span>setEpsAngle()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::setEpsAngle </td>
          <td>(</td>
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          <td class="paramname"><em>ea</em></td><td>)</td>
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<p>Set the angle epsilon (delta) threshold. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">ea</td><td>the maximum allowed deviation from 90 degrees between the plane normal and the given axis. </td></tr>
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<dl class="section note"><dt>注解</dt><dd>You need to specify an angle &gt; 0 in order to activate the axis-angle constraint! </dd></dl>
<div class="fragment"><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;{ <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a51507054bfcec905fc93de25c0392db2">eps_angle_</a> = ea; <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#aa259a6a04d35b74090a20f4a918c040d">cos_angle_</a> = fabs (cos (ea));}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a04121c694f7170f6ea3f4854a2689db2">&#9670;&nbsp;</a></span>setEpsDist()</h2>

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template&lt;typename PointT , typename PointNT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">pcl::SampleConsensusModelNormalParallelPlane</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;::setEpsDist </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>delta</em></td><td>)</td>
          <td></td>
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<p>Set the distance epsilon (delta) threshold. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">delta</td><td>the maximum allowed deviation from the template distance from the origin </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;{ <a class="code" href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html#a277a362585ed9009e06521f81ab77c4e">eps_dist_</a> = delta; }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>sample_consensus/include/pcl/sample_consensus/<a class="el" href="sac__model__normal__parallel__plane_8h_source.html">sac_model_normal_parallel_plane.h</a></li>
<li>sample_consensus/include/pcl/sample_consensus/impl/<a class="el" href="sac__model__normal__parallel__plane_8hpp_source.html">sac_model_normal_parallel_plane.hpp</a></li>
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